CN107791950A - Outbound servicing unit - Google Patents

Abstract

The present invention provides a kind of outbound servicing unit.Being in this car (10) can outbound state, and in the case of corresponding to the direction shown in the gear of outbound direction or direct of travel and Ben Che (10), the output control part (62) of outbound servicing unit (12) makes to call attention to presentation of information in touch-screen display (40), wherein, the outbound direction refers to, this car (10) wants mobile direction relative to position auxiliary starting position (Ps) of this car (10) when starting outbound auxiliary control, the direct of travel refers to, the actually moveable direction of this car (10).Hereby it is possible in the outbound of this car, realization can more strongly arouse the picture that driver pays attention to and show.

Description

Outbound servicing unit

Technical field

The present invention relates to a kind of outbound servicing unit for aiding in vehicle outbound.

Background technology

In the prior art, it is known to aid in the outbound servicing unit of vehicle outbound.For example, develop skill as follows Art：The vehicle (hereinafter referred to as this car) as outbound object is automatically changed in the case of from file parking space outbound Rudder angle (rudder angle) control, aid in the advance and retreat switching action of this car accordingly.

Proposed in patent document 1：It is being determined as that Ben Che can be in the case of outbound, by looking down for viewed from above car The image that the barrier that image and shooting are likely to be present in around this car obtains is shown in indication mechanism in the lump, wherein, it is described to bow Image of looking down from a height is obtained by synthesizing to the image taken by multiple photographic units for being shot around this car.In addition, special Proposed in sharp document 1：The information that will call attention to is shown in indication mechanism always, wherein, it is described call attention to information be used for Driver notification should confirm the peripheral situation of this car while outbound.

Prior art literature

Patent document

Patent document 1：Japanese invention Patent Publication No 2012-176747

The content of the invention

In addition, it is necessary to by calling attention to and being directed to for fore-aft vehicle in the case of from file parking space outbound Driving vehicle on the track at this car interflow calls attention to that both call attention to and are shown in indication mechanism.

Even if by such presentation of information that calls attention in indication mechanism, there is also following worry：Driver does not confirm reality The fore-aft vehicle and driving vehicle on border, and the image shown by indication mechanism is watched attentively while making the outbound of this car.

The present invention makes to solve the above problems, its object is to, there is provided a kind of outbound servicing unit, with energy Enough in the outbound of this car, realization can more strongly arouse the picture that driver pays attention to and show.

Outbound servicing unit involved in the present invention has front testing agency, auxiliary controls, indication mechanism and shown Show controlling organization, wherein, the front testing agency is at least detected from this car to the front obstacle positioned at this front side Front distance；The auxiliary controls are according to the front distance and described car detected by the front testing agency Current location, at least aid in the advance of described car；The indication mechanism shows relevant with the outbound of described car arouse Pay attention to information；Indication mechanism described in the display control mechanism controls, being in described car can outbound state and outbound direction Or in the case of direct of travel is corresponding with the direction shown in the gear of described car, the display control mechanism makes the display machine Structure calls attention to information described in showing, wherein：The outbound direction refers to relative to described car during the auxiliary beginning Position aids in starting position, and described car wants mobile direction；The direct of travel refers to that described car is actually removable Dynamic direction.

So, only described car can outbound, and the outbound direction or the direct of travel with shown in the gear Direction corresponding in the case of, make the indication mechanism show described in call attention to information.That is, only described car is made to described In the case of outbound direction or the direct of travel outbound, the information that calls attention to is shown in the indication mechanism, therefore, Can improve the timeliness of the display of the information that calls attention to, and can by the change of display content during outbound come pair The driver gives visual stimulus.Shown hereby it is possible to realize and more strongly arouse the picture that driver pays attention to.As a result, institute Stating driver can be according to the information that calls attention to described in shown, while confirming the fore-aft vehicle of file parking space and described Driving vehicle on track, while making described car outbound and collaborating with the track.

In addition, the outbound servicing unit also has multiple photographic units on the periphery that can shoot described car.The situation Under, the display control mechanism makes the indication mechanism show eye view image, and the indication mechanism is aroused note by described Presentation of information of anticipating is in the directions different from the outbound direction or the direct of travel in the eye view image, wherein described bow Image of looking down from a height is the figure that described car obtaining, viewed from above is synthesized to the image taken by each photographic unit Picture.Accordingly, institute is shown in the region in the direction different from the outbound direction or the direct of travel in the eye view image The information that calls attention to is stated, therefore, it is possible to it should carry out the position of safety verification when not blocking described car outbound in the case of, The driver is effectively called attention to.That is, when making information be shown in the outbound direction or the traveling side Xiang Shi, the driver can be given to bring the illusion for forbidding travelling to the direction, therefore, it is possible to not produce such illusion.

In addition, the indication mechanism can show the described car that the eye view image and the photographic unit photograph Side image, being in described car can be in the state of outbound, and the display control mechanism makes the indication mechanism show in the lump The eye view image and the side image of the outbound direction or the direct of travel.The visual angle of the side image with it is described Eye view image is different, and the driver wants the image of the necessary part amplification confirmed when being by outbound, therefore, it is possible to hold The driving vehicle changed places on the confirmation track.

In addition, when making the indication mechanism show the eye view image and the side image, the display control machine Structure makes the indication mechanism that the indication range for representing the side image is marked into overlapping be shown in the eye view image Correspondence position.Accordingly, the driver can hold the indication range of the side image exactly.

In addition, the display control mechanism make when described Chinese herbaceous peony is entered and travelled the indication mechanism show described in arouse note Meaning information, on the other hand, the indication mechanism is set not show the information that calls attention to when described car retreats traveling.According to This, call attention to information in the outbound under the advance travels described in display, is not shown when regression is sailed in the rear, therefore, The picture on the indication mechanism retreated when travelling can be made without dead angle.

In addition, outbound servicing unit involved in the present invention has front testing agency, auxiliary controls, indication mechanism With display control mechanism, wherein, the front testing agency is at least detected from this car to the preceding object positioned at this front side The front distance of thing；The auxiliary controls are according to the front distance that is detected by the front testing agency and described The current location of this car, at least aid in the advance of described car；The indication mechanism shows relevant with the outbound of described car Call attention to information；Indication mechanism described in the display control mechanism controls, when reaching since the auxiliary by regulation The position auxiliary starting position of described car when the state of time, described car start relative to the auxiliary has changed rule Determine angle state or described car from it is described auxiliary starting position move predetermined distance state at least one of State, and in the case of outbound direction or direct of travel are corresponding with the direction shown in the gear of described car, the display control Mechanism processed make the indication mechanism show described in call attention to information, wherein, the outbound direction refer to described car relative to Mobile direction is wanted in the auxiliary starting position, and the direct of travel refers to the actually moveable direction of described car.

So, only in a case where, make the indication mechanism show described in call attention to information：Reach from described in beginning Auxiliary begins to pass through the stipulated time, described car changes relative to the auxiliary starting position generation predetermined angular or described This car moves at least one of predetermined distance state, and the outbound direction or the traveling from the auxiliary starting position Direction is corresponding with the direction shown in the gear.In this case, also only described car is made to the outbound direction or described During direct of travel outbound, by the presentation of information that calls attention in the indication mechanism, therefore, it is possible to improve described call attention to The timeliness of the display of information, and can be pierced by the change of display content during outbound to give vision to the driver Swash.Shown hereby it is possible to effectively realize and more strongly arouse the picture that driver pays attention to.As a result, the driver can be by According to the information that calls attention to described in shown, while confirming the Travel vehicle on the fore-aft vehicle and the track of file parking space , while making described car outbound and collaborating with the track.

, can be in the outbound of this car according to outbound servicing unit involved in the present invention, realization can more strongly arouse driving The picture that member pays attention to is shown.

Brief description of the drawings

Fig. 1 is the frame of the structure for the vehicle for representing to be equipped with the outbound servicing unit involved by one embodiment of the present invention Figure.

Fig. 2 is the approximate vertical view of the configuration example of the camera group and sonar group in this car for represent Fig. 1.

Fig. 3 is the schematic diagram for the testing result for representing the front sonar based on Fig. 2.

Fig. 4 is the schematic diagram of a series of actions for representing this car based on outbound auxiliary control.

Fig. 5 is the state transition graph of outbound auxiliary control model.

Fig. 6 is the schematic diagram for the establishing method for representing outbound track.

Fig. 7 is the flow chart for illustrating the action of the outbound servicing unit under " forward mode " shown in Fig. 5.

Fig. 8 be represent this car under " information that calls attention to export determinating mode " outbound direction or direct of travel with calling attention to The schematic diagram of the relation of the viewing area of information.

Fig. 9 is the flow for illustrating the action of the 1st embodiment of " information that calls attention to exports determinating mode " shown in Fig. 5 Figure.

Figure 10 is the schematic diagram that the picture in the 1st embodiment for represent Fig. 9 is shown.

Figure 11 is the schematic diagram that the picture in the 1st embodiment for represent Fig. 9 is shown.

Figure 12 is the flow for illustrating the action of the 2nd embodiment of " information that calls attention to exports determinating mode " shown in Fig. 5 Figure.

Figure 13 is the schematic diagram that the picture in the 2nd embodiment for represent Figure 12 is shown.

Figure 14 is the flow for illustrating the action of the 3rd embodiment of " information that calls attention to exports determinating mode " shown in Fig. 5 Figure.

Figure 15 is the schematic diagram that the picture in the 3rd embodiment for represent Figure 14 is shown.

Description of reference numerals

10：This car；12：Outbound servicing unit；14：Sensor group；16：Guider；18：Aid in ECU；20：EPS units；22： Camera group；24：Sonar group；30：Shift sensor；32：Gear level；40：Touch-screen display；42：Loudspeaker；50：Input Output section；52：Operational part；54：Storage part；56：Outbound track configuration part；58：Auxiliary continues determination unit；60：Assist control (auxiliary controls)；62：Output control part (display control mechanism)；70：Steering wheel；76：EPS-ECU；80：Vehicle body；81：Before Square camera；82：Rear camera；83：Right side side's camera；84：Left side side's camera；91~94：Front sonar (is examined in front Survey mechanism)；95~98：Rear sonar；100：File parking space；101：Other vehicles (front obstacle) of front；102：Afterwards Other vehicles of side；110：Outbound coordinate system；112、120、130、140：Display picture；114、122、132、142：Eye view image； 119、126：Alert viewing area；124：Forward image；134、144：Rear side side's image；136、146、148：Mark；150：Car ；Db：Rear distance；Df：Front distance；Pc：Current location；Pe：Aid in end position；Pm：Centre position；Ps：Auxiliary is opened Beginning position；T：Outbound track；θ：Rudder angle；θo：Neutral angle；θtar：Target rudder angle.

Embodiment

Below, enumerate preferred embodiment and outbound servicing unit involved in the present invention said referring to the drawings It is bright.

[structure of outbound servicing unit 12]

The structure ＞ of ＜ this car 10

Fig. 1 is vehicle (the hereinafter referred to as sheet for representing to be equipped with the outbound servicing unit 12 involved by one embodiment of the present invention Car 10) structure block diagram.

Outbound servicing unit 12 is by carrying out including outbound (PO；Pull Out) aid in the auxiliary of control to control to pass through Automatically the device that the outbound to this car 10 is aided in is manipulated.Here, the operation of steering wheel 70 is automatic by outbound servicing unit 12 Ground is carried out, on the other hand, the operation of accelerator pedal and brake pedal (not shown) and gear level 32 by this car 10 driver Carry out.

Outbound servicing unit 12 has the sensor group 14 of various physical quantitys, guider used in detection auxiliary control 16th, it is responsible for ECU (the electronic-controlled installations of auxiliary control；Hereinafter referred to as aid in ECU18), electric boosting steering system (Electric Power Steering) unit (hereinafter referred to as EPS units 20).

As shown in figure 1, sensor group 14 includes camera group 22, sonar group 24, wheel detector 26, vehicle speed sensor 28 With shift sensor 30.

Camera group 22 is made up of the one or more cameras that can shoot the periphery of this car 10, is sequentially output expression originally The shooting signal of the side images of car 10.Sonar group 24 is by that can launch the one of the reflected sound of sound wave and reception from other objects Individual or multiple sonars are formed, and are sequentially output the detection signal related to the distance Dis apart from this car 10.

Wheel detector 26 is the angle of the anglec of rotation of the trailing wheel (not shown) for the front-wheel and/or left and right for detecting left and right Sensor or displacement transducer, the detection pulse of the output quantity related to the operating range of this car 10.Vehicle speed sensor 28 is The sensor of the speed (that is, speed) of this car 10 is detected, for example, being configured to according to the jackshaft (not shown) of speed changer Rotation amount detects speed.

The output of shift sensor 30 represents the inspection of the gear selected according to the operation of gear level 32 (also known as selector) Survey signal.Gear level 32 is can for example to select 6 kinds of gears, " P " (parking shift), " R " (reversing gear), " N " (neutral), " D " (to advance Gear), the device of " 2 " (2 gear) or any one gear in " L " (bottom gear).

Guider 16 detects the current location Pc of this car 10 using GPS (Global Positioning System) (Fig. 6), the occupant including driver is guided to the path of destination.Guider 16 is configured to：Including touch-screen display 40 (indication mechanisms), loudspeaker 42 and the storage device (not shown) for constructing map information database.The guider 16 is made Played a role for HMI (Human-Machine Interface) in outbound servicing unit 12.

As hardware, auxiliary ECU18 has input and output portion 50, operational part 52 and storage part 54.The operational part 52 passes through The program for being stored in storage part 54 is read and performed, is used as outbound track configuration part 56, auxiliary continues determination unit 58, auxiliary control Portion 60 (auxiliary controls) processed and output control part 62 (display control mechanism) play a role.

EPS units 20 are configured to：Including steering wheel 70, steering column 71, rotation angle sensor (rudder angle sensor) 72nd, torque sensor 73, EPS motor 74, decomposer (resolver) 75 and EPS-ECU76.

Rotation angle sensor 72 detects the rudder angle θ of steering wheel 70.Torque sensor 73 detects the moment of torsion for being applied to steering wheel 70. EPS motor 74 gives driving force or counter-force to the steering column 71 for being connected to steering wheel 70.Decomposer 75 detects the rotation of EPS motor 74 Gyration.

EPS-ECU76 is the device for controlling EPS units 20 overall, same with auxiliary ECU18, has input defeated as hardware Go out portion, operational part and storage part (not shown).

The concrete structure ＞ of ＜ cameras group 22 and sonar group 24

Fig. 2 is the approximate vertical view of the configuration example of the camera group 22 and sonar group 24 in this car 10 for represent Fig. 1.For example, take the photograph As head group 22 is by the front camera 81 (photographic unit) positioned at the front of vehicle body 80, the rear camera 82 positioned at vehicle body side after 80s (photographic unit), positioned at driver's seat side outside rear-view mirror outer lower portion right side side's camera 83 (photographic unit) and positioned at pair This 4 cameras of left side side's camera 84 (photographic unit) of the outer lower portion of driver's seat side outside rear-view mirror are formed.

Sonar group 24 is by 4 front sonars 91~94 (front testing agency) positioned at the front of vehicle body 80 and positioned at vehicle body 80 4 rear sonars 95~98 at rear are formed.Front sonar 92,93 and rear sonar 96,97 are located at apart from the center of vehicle body 80 The near position of line, and be individually configured as the direction consistent with vehicle commander direction.Front sonar 91,94 and rear sonar 95,98 In the remote position of the center line apart from vehicle body 80, and it is individually configured as relative to vehicle commander direction inclined direction outward.

Fig. 3 is the schematic diagram for the testing result for representing the front sonar 91~94 based on Fig. 2.In detail in this figure, example go out by It is configured to the front sonar 92,93 of the direction consistent with the vehicle commander direction of vehicle body 80.

ECU18 (operational part 52) is aided in be divided into 3 distance areas according to the distance Dis from front sonar 91~94 Carry out detection process.For example, meet 0 ＜ Dis≤D2 distance areas can detect other objects in the case of, by this away from It is defined as from region " can detection zone ".On the other hand, other can not detected in the distance areas for meeting Dis ＞ D2 In the case of object, the distance areas is defined as " can not detection zone ".

Here, by it is above-mentioned can detection zone be further divided into 2 distance areas.Specifically, 0 ＜ is being met In the case of Dis≤D1 (＜ D2), the distance areas is defined as " nearly (Near) " (or " near field ").On the other hand, exist Meet D1 ＜ Dis (≤D2) in the case of, the distance areas is defined as " remote (Far) " (or " far region ").

[action of outbound servicing unit 12]

The summary ＞ of ＜ outbounds auxiliary control

Outbound servicing unit 12 involved by present embodiment is formed as described above.Outbound servicing unit 12 leads to according to driver The input operation of guider 16 (Fig. 1) progress is crossed, is transformed into " outbound auxiliary control model " described later in Fig. 5, is started to this The outbound auxiliary control of car 10.Guider 16 is being carrying out outbound auxiliary control period, carries out relevant with outbound auxiliary Guiding output (hreinafter referred to as guides).Specifically, according to the output control carried out by output control part 62, screen display is touched Show that device 40 exports the visual information (picture) relevant with outbound auxiliary, and loudspeaker 42 exports the voice relevant with outbound auxiliary Information.

Fig. 4 is the schematic diagram of a series of actions for representing this car 10 based on outbound auxiliary control.Here, the following feelings of imagination Condition：In file parking space 100, in one row be parked front other vehicle 101 (front obstacle), this car 10 and rears other Vehicle 102 (rear obstacle).

In [action 1], auxiliary ECU18 is provided guider 16 (to be started running for carrying out the back operation of this car 10 Indicate and parking instruction) output signal.Driver has been carried out gear from " P " according to the guiding carried out by guider 16 It is changed to after the operation of gear level 32 of " R ", the operation loosened the brake.Here, in being set to due to rudder angle θ Vertical angle, θ o (=0 degree), therefore, this car 10 is rearward moved as the crow flies by the effect of Creep Forces.With by rear sonar 95~ 98 detect that " near " is triggering, and driver carries out the operation of brake pedal according to the guiding carried out by guider 16.

In [action 2], auxiliary ECU18 is provided guider 16 (to be started running for carrying out the forward operation of this car 10 Indicate and parking instruction) output signal.Driver enters to be about to gear and become from " R " according to the guiding carried out by guider 16 More after the operation of the gear level 32 of " D ", the operation loosened the brake.Here, by manipulating automatically, rudder angle θ quilts It is set as target rudder angle θ tar (clockwise), therefore, this car 10 is turned move forwards on one side on one side to the right.With by front sound 91~94 detect that " near " is triggering, and driver carries out brake pedal according to the guiding carried out by guider 16 Operation.

In addition, the gear in the case that this car 10 moves forwards is not limited to " D " or " 2 " or " L ". In following explanation, the gear of advance is illustrated for the situation of " D ".

In [action 3], auxiliary ECU18 is provided guider 16 (to be started running for carrying out the back operation of this car 10 Indicate and parking instruction) output signal.Driver has been carried out gear from " D " according to the guiding carried out by guider 16 It is changed to after the operation of gear level 32 of " R ", the operation loosened the brake.Here, by manipulating automatically, rudder angle θ Target rudder angle θ tar (counterclockwise) are set to, therefore, this car 10 is turned rearward move on one side on one side to the left.With by rear Sonar 95~98 detects that " near " is triggering, and driver carries out brake pedal according to the guiding carried out by guider 16 Operation.

In [action 4], auxiliary ECU18 is provided guider 16 (to be started running for carrying out the forward operation of this car 10 Indicate and parking instruction) output signal.Driver has been carried out gear from " R " according to the guiding carried out by guider 16 It is changed to after the operation of gear level 32 of " D ", the operation loosened the brake.Here, by manipulating automatically, rudder angle θ Target rudder angle θ tar (clockwise) are set to, therefore, this car 10 is turned move forwards on one side on one side to the right.Front sonar 91~94 do not detect " near ", and this car 10 reaches auxiliary end position.

In addition, it should be noted that：As described later, be in can be 1 time of state of outbound for this car 10 under Fig. 5 " forward mode " Judge to set up, and make under " information that calls attention to export determinating mode " to sentence for 2 times of the meaning for continuing to terminate that auxiliary controls It is fixed set up in the case of, auxiliary ECU18 (auxiliary continues determination unit 58) determine this car 10 can outbound the meaning judgement, accordingly, Make the end of outbound auxiliary control judge to set up, terminate outbound auxiliary control of the assist control 60 to this car 10.

In [action 5], driver receives informing (end of outbound auxiliary) for guider 16, assurance driving main body conversion For the situation of oneself.Driver leaves file parking space 100 by bend the throttle.Accordingly, the outbound of this car 10 is moved Complete.

＜ state transition graphs ＞

Fig. 5 is the state transition graph of outbound auxiliary control model.Outbound aids in control model substantially by [1] forward mode, [2] " fall back " mode", [3] are called attention to, and this 4 patterns are formed information output determinating mode with [4] auxiliary end all announcement mode.

First, with " outbound auxiliary control model " event (event) generation, be converted to " forward mode " or The either mode of " " fall back " mode" ".For example, in the case of detecting " near " by more than one in rear sonar 95~98, it is considered as Advance and judge to set up and be converted to " forward mode ".On the other hand, in the case where judgement of advancing is invalid, it is considered as retrogressing and judges Set up and be converted to " " fall back " mode" ".

For example, after " " fall back " mode" " is converted to, " " fall back " mode" " is rested on, until gear is changed to from " R " “D”.On the other hand, in the case where gear is changed to " D " during being carrying out " " fall back " mode" ", from " " fall back " mode" " Be converted to " forward mode ".

For example, after " forward mode " is converted to, " forward mode " is rested on, until gear is changed to from " D " " R ", or detect the state (1 time judge to set up) of " can outbound " described later.During " forward mode " is carrying out In the case that gear is changed to " R ", be converted to " " fall back " mode" " from " forward mode ".

1 decision condition of the state of " can outbound " for example has situations below here, detect：In 4 fronts of whole In the case that sonar 91~94 (Fig. 2) does not detect " near ", this car 10 reaches the auxiliary on outbound track T (Fig. 6) End position Pe.Specifically, the testing result of the front sonar 92,93 of medial side is " being not detected by ", and the front of angle side The testing result of sonar 91,94 is not the situation of " near " (being " remote " or " being not detected by ").

In the case where 1 judgement of " forward mode " is set up, " the information that calls attention to output is converted to from " forward mode " Determinating mode ".After conversion, " information that calls attention to exports determinating mode " is rested on, until the end that auxiliary described later continues is sentenced Fixed (2 judgements) is set up.

In the case where the end of " information that calls attention to exports determinating mode " judges to set up, from " information that calls attention to is defeated Go out determinating mode " be converted to " auxiliary terminates all announcement mode ".After conversion, " auxiliary terminates all announcement mode " is rested on, until outbound The end of auxiliary control judges to set up.On the other hand, in the case where the end of " auxiliary terminates all announcement mode " judges to set up, The event of " outbound auxiliary control model " terminates.

In addition, in " outbound auxiliary control model ", substantially since " " fall back " mode" ", but it is noted that：Work as barrier When close to 10 rear of this car, as exception, since " forward mode ".

Action ＞ during ＜ forward modes

Then, the action of the outbound servicing unit 12 under Fig. 5 " forward mode " is described in detail.Fig. 6 represents outbound track T The schematic diagram of establishing method.Fig. 7 is the details for the action specification for illustrating the outbound servicing unit 12 under Fig. 5 " forward mode " Flow chart.

As shown in fig. 6, imaginary one side of this car 10 ensures the distance of other vehicles 101 of same front and other vehicles 102 of rear, While the situation from the outbound of file parking space 100.The shape of this car 10 of outbound coordinate system 110 by during the control of outbound auxiliary State defines.Specifically, X-axis is the axle parallel with the overall width direction of this car 10, and Y-axis is parallel with the vehicle commander direction of this car 10 Axle.Also, the position (hereinafter referred to as aiding in starting position Ps (assigned position)) of this car 10 is set to outbound coordinate system 110 Origin O.In addition, the outbound direction of this car 10 is the positive direction of X-axis, it is that this car 10 is wanted to move relative to auxiliary starting position Ps The direction of dynamic (outbound).In addition, this car 10 is defined as to the traveling side of this car 10 along the actual moveable directions of outbound track T To.

Below, this current truck position is referred to as to the current location Pc of this car 10.For example, in current location Pc, by front Sonar 91 detects the distance between this car 10 and other vehicles 101 of front (hereinafter referred to as front distance Df).In addition, in present bit Pc is put, the distance between this car 10 and other vehicles 102 of rear Db (hereinafter referred to as rear distance) are detected by rear sonar 98.

Here, when occurring the advance and retreat switching action of this car 10, outbound servicing unit 12 (specifically, aids in ECU18 the stop position (hereinafter referred to as centre position Pm) of this car 10) is determined, calculates the outbound rail for being set by centre position Pm Road T.Outbound track T is the track (curve that this car 10 may pass through in the state of rudder angle θ to be set as to target rudder angle θ tar Or straight line).

On outbound track T, the centre position Pm equivalent to the starting point and auxiliary end position Pe equivalent to terminal be present. Here, auxiliary end position Pe is in 1 judgement described later under " forward mode ", actually it is determined as that this car 10 can outbound Position or 1 time judge in be used for judge this car 10 whether can outbound reference position.

Fig. 7 flow chart represent since " forward mode " to " forward mode " end main actions.The flow After figure terminates, the end that outbound auxiliary controls under " information that calls attention to exports determinating mode " judges what (2 judgements) was set up In the case of, " auxiliary terminates all announcement mode " is converted to, on the other hand, is obtained 2 times in the case of judging invalid result of determination, Be converted to " " fall back " mode" ".

In step sl, detection signals of the ECU18 according to shift sensor 30 is aided in, the gear for being determined as gear level 32 is " D ", start " forward mode ".At the time point, this car 10 is in halted state in the centre position Pm shown in Fig. 6.

In step s 2, aid in ECU18 (outbound track configuration part 56) to obtain and represent this car 10 and the barrier positioned at its periphery Hinder the various information of the position relationship of thing.Specifically, front sonar 91~94 detects this car 10 and other vehicles of front respectively Front distance Df between 101.In addition, rear sonar 95~98 detects between this car 10 and other vehicles 102 of rear respectively Rear distance Db.

ECU18 is aided in be tried to achieve in addition to front distance Df and rear distance Db in pre-defined outbound coordinate system 110 Current location Pc, i.e. newest centre position Pm.For example, current location Pc can be by following the trail of from nearest centre position Pm Actual motion track that (or auxiliary starting position Ps) starts calculates.The motion track is respectively using the outbound set recently Track T starting point and shape and the operating range of this car 10 calculate.

In step s3, outbound track configuration part 56 using obtain respectively in step s 2 front distance Df, rear away from From Db and centre position Pm, to set the outbound track T of this car 10.Specifically, outbound track configuration part 56 sets suitable respectively Target rudder angle θ tar of vehicle-state or surrounding condition before being fated, the outbound track T (dotted lines by newest centre position Pm It is shown).Alternatively, it is also possible in " forward mode " when starting outbound auxiliary control, make outbound track T All Paths, Or outbound track T at least one of path whenever " forward mode " is converted to, can also be made in step s3.

In step s 4, by the current rudder angle θ of this car 10, (in centre position, Pm carries out advance and retreat switching to assist control 60 The rudder angle that is set recently before action) it is changed to the target rudder angle θ tar that set in step s3.Specifically, assist control 60 provide control signal of the instruction to target rudder angle θ tar changes to EPS-ECU76.Accordingly, centre position is stopped in this car 10 Manipulated automatically in the state of Pm.

In step s 5, output control part 62 provides guider 16 output for representing the meaning that this car 10 can advance Signal.When driver according to based on guider 16 guiding come loosened the brake operation when, this car 10 is by compacted Slide the effect of power and advance on outbound track T.

In step s 6, auxiliary continuation determination unit 58 carries out the location determination based on front sonar 91~94.Specifically, By other vehicles 101 or other barriers in front of at least one detection in front sonar 91~94, to determine whether to detect To " near ".(the step S6 in the case where being judged to being not detected by：OK), into next step (S7).

In the step s 7, whether auxiliary continues determination unit 58 and judges this car 10 in " can outbound " state, specifically, root Other vehicles 101 of front or the situation of other barriers can not be detected according to front sonar 91~94, to determine whether to be in Other vehicles 101 of front are not present on outbound track T or whether the state of other barriers, this car 10 have been reached positioned at outbound rail Auxiliary end position Pe on road T.(the step S7 in the case where not yet reaching：NO), step S6 is returned to, below, hold repeatedly The judgement of row step S6, S7.

In addition, at least one being determined as in step s 6 in the sonar 91~94 of front detects (step in the case of " near " S6：N/A), into step S8.

In step s 8, auxiliary continues determination unit 58 and is determined as that this car 10 can not continue to the outbound of original (constant) Outbound in the state of track T, auxiliary ECU18 receive auxiliary and continue the result of determination of determination unit 58 and terminate " forward mode ", turn It is changed to " " fall back " mode" ".Specifically, the navigation device 16 of assist control 60 is exported for guiding driver by gear level 32 Gear operation for " R " control signal, touch-screen display 40 according to control signal guide to " R " operate display. Accordingly, gear is made to turn into " R " by operation of the driver to gear level 32, it is auxiliary in the case that shift sensor 30 detects " R " Help control unit 60 to terminate " forward mode ", be converted to " " fall back " mode" ".

On the other hand, (the step S7 in the case where step S7 is the result of determination of affirmative：YES), into step S9.

In step s 9, auxiliary continues determination unit 58 is temporarily determined as it being that other cars of front are not present on outbound track T The state of 101 or other barriers, this car in advance 10 can go out in the case of without advance and retreat switching action The state (state in " can outbound ") in storehouse.Also, auxiliary ECU18 receive auxiliary continue determination unit 58, detect and can go out 1 result of determination of storehouse state, terminates " forward mode ", and instruction can advance as it is.

So, " forward mode " terminates.In this case, due to performing the guiding changed to " " fall back " mode" " to driver (step S8), auxiliary ECU18 are converted to " " fall back " mode" " from " forward mode ".On the other hand, it is judged to being in " to go out at 1 time In the case of the state in storehouse " (step S9), auxiliary ECU18 is converted to the " information that calls attention to output judgement mould from " forward mode " Formula ".

In addition, " " fall back " mode" " shown in Fig. 5 also performs basically according to the step identical with Fig. 7 flow chart.But " " fall back " mode" " different point is：[1] gear is " R " (step S1), (step S3, [2] aid in end position Pe without setting S7), the direct of travel of [3] this car 10 is opposite (step S5), and [4] use the testing result (step S6) of rear sonar 95~98.

It is mainly nearest along outbound track T from (after advance and retreat switching action) to this car 10 in addition, in Fig. 7 action Centre position Pm reaches auxiliary end position Pe, and the situation for carrying out 1 judgement of " can outbound " state is illustrated.Fig. 7's Action can also be applied to situations below certainly：Due to other vehicles 101 of front or other barriers being not present on outbound track T Hinder thing, therefore, after outbound auxiliary control is just started, this car 10 reaches auxiliary along outbound track T from auxiliary starting position Ps Help end position Pe, carry out 1 judgement of the state of " can outbound ".

＜ call attention to information output determinating mode action ＞

Then, the action of " information that calls attention to exports determinating mode " shown in Fig. 5 is described in detail.

As described above, in step S7, S9 as the Fig. 7 of " forward mode ", if auxiliary continues determination unit 58 in outbound On track T, this car 10 is set to proceed to certain distance (auxiliary end position Pe) from centre position Pm or auxiliary starting position Ps, and And front sonar 91~94 does not detect " near ", then it is determined as that this car 10 is in " can outbound " state for 1 time.

Here, when gear is " D ", this car 10 is in the case of the outbound of file parking space 100, it is necessary to touch screen display Show and following two information that call attention to are shown on device 40：Arouse note for other vehicles 101 of front and other vehicles 102 of rear Meaning and calling attention to for the driving vehicle on the track at the interflow of this car 10.In addition, the information that calls attention to refers to, for notifying Driver should confirm the peripheral situation of this car 10 while the information of outbound.

In this case, the visual information (for example, image each camera 81~84 taken by) relevant with outbound auxiliary It is shown in touch-screen display 40.Therefore, even if making touch-screen display 40 show the information that calls attention to, driver also has can Can not confirm other vehicles 101 of actual front, other vehicles 102 of rear and driving vehicle, but while watch attentively be shown in it is tactile The image of panel type display 40 is touched while making the outbound of this car 10.Therefore, driven in 10 outbound of this car, it is necessary to realize and can more strongly arouse The picture that the person of sailing pays attention to is shown.

Therefore, detect that 1 time of " can outbound " state is judged in the case of setting up in Fig. 7 step S9, outbound Servicing unit 12 (auxiliary continue determination unit 58, output control part 62) be not immediately converted as yet Fig. 5 " mould is informed in auxiliary end Formula ", but " information that calls attention to exports determinating mode " is performed, in this car 10 along during outbound track T outbounds, shown in touch-screen Warning as defined in being carried out on device 40 shows (display for the information that calls attention to), afterwards, carries out the meaning for terminating outbound auxiliary control 2 judgements thought.

Here, before " information that calls attention to exports determinating mode " is illustrated, summary of the reference picture 8 to warning display Illustrate.Fig. 8 is the viewing area for schematically showing the information that calls attention in the display picture 112 of touch-screen display 40 The schematic diagram in domain.

In display picture 112, show the image taken by each camera 81~84 is synthesized it is obtaining, from upper Observe the eye view image 114 of this car 10 in side.Right side area 116 and front region 118 around eye view image 114 be present, its In, the right side area 116 is corresponding with the outbound direction (Fig. 6 right) of this car 10, and the front region 118 goes out with this car 10 Ku Shibenche 10 is corresponding along the actually moveable directions (direct of travel) of outbound track T.

Here, this car 10 is " forward mode ", and outbound direction or the direct of travel and intention of this car 10 can be determined as It is (corresponding in same outbound direction in the case of corresponding to direction shown in the gear (specifically, " D ", " 2 " or " L ") of " advance " Right side area 116) and the different direction of direct of travel (corresponding front region 118) viewing area (warning viewing area 119) information that calls attention to is shown.

I.e., in the present embodiment, this car 10 actually outbound when, in display picture 112, outbound rail will not hindered Road T, outbound direction or the display on direct of travel region show the information that calls attention to.Therefore, it is beyond " advance " in gear Gear (" P ", " R " or " N ") in the case of, because the outbound direction of this car 10 or direct of travel and the direction shown in gear be not right Should, therefore, without the display of the information that calls attention in display picture 112.In addition, in the following description, it is " preceding to being intended to Enter " gear illustrated for the situation of " D ".

Then, 9~Figure 15 of reference picture, " information that calls attention to exports determinating mode " is specifically illustrated.Here, point Three kinds of warning display methods (the 1st~the 3rd embodiment) under bright " information that calls attention to exports determinating mode " are not mentionleted alone.

The embodiment ＞ of ＜ the 1st

9~Figure 11 of reference picture, the 1st embodiment is illustrated.1st embodiment is following situation：This car 10 is parked sky from file Between 100 outbounds and when collaborating with track, make to be shown in touch-screen display 40 as the regulation warning text for the information that calls attention to.

In Fig. 9 step S10, operational part 52 (output control part 62) determines whether by touch-screen display 40 be entered Row warning output.

Here, front distance Df and rear distance when starting outbound auxiliary Db's and can outbound interval D s (=Df+ Db) between defined threshold value Dmax, the relation in Ds ＞ Dmax, and front distance Df or rear distance Db is to examine In the case of surveying region (95~98 undetectable region of front sonar 91~94 or rear sonar), gear is " D ", this car 10 Can be by forward motion once from the outbound of file parking space 100, therefore, output control part 62 is judged to being warned Accuse output (step S10：YES).

In addition, be Ds≤Dmax when starting outbound auxiliary, and in the case of being the 2nd later forward motion, Car 10 is narrow with the front and rear space of other vehicles 101 of front and other vehicles 102 of rear, and therefore, this car 10 can be more in progress It is the state of " D " from the outbound of file parking space 100 using gear, therefore, output control part 62 is sentenced after secondary advance and retreat switching action Being set to carry out warning output (step S10：YES).

(the step S10 in the case where so being judged to needing to alert：YES), into step S11.In step s 11, it is defeated Going out control unit 62 makes the warning text of the defined information that calls attention to be shown in touch-screen display 40.

Here, reference picture 10 and Figure 11, are illustrated to the display picture 120 1 of touch-screen display 40.Figure 10 tables Show that the example for alerting the display picture 120 in the case that text is shown in the absence of the information that calls attention to (before step S11 or walks Picture in rapid S14 show), Figure 11 represent to have carried out in step s 11 to call attention to information warning text show in the case of Display picture 120 example.

In the right side area of Figure 10 display picture 120, show and the image taken by each camera 81~84 is entered Eye view image 122 that row synthesis obtains, viewed from above car 10.In addition, show front camera 81 in left field The forward image 124 photographed.

Also, it is determined as (step S10 in the case of needing to alert in step slo：YES), in step s 11, show The display content of picture 120 switches to Figure 11 from Figure 10.I.e., in fig. 11, the traveling with this car 10 in eye view image 122 Direction (direction that this car 10 can actually advance along outbound track T) or outbound direction (Fig. 6) different direction, specifically, The rear area of this car 10 in eye view image 122, setting warning viewing area 126.Also, viewing area 126 is being alerted, Such as the warning text of display " please noting driving vehicle ".

It is corresponding with the region of the shooting rear images of rear camera 82 to alert the position of viewing area 126, is to hinder Outbound track T and the position of the display on outbound direction or direct of travel.In this case, output control part 62 makes warning viewing area The shooting area for the rear images that domain 126 is overlapped in eye view image 122 and be shown in display picture 120.Accordingly, in this car 10 During outbound, in display picture 120, the information that calls attention to can be made in the case where not blocking outbound direction or direct of travel (warning text) is shown in display picture 120, and driver is effectively called attention to.

In step s 12, auxiliary continues the result of determination of the output control part 62 in accepting step S10, S11 of determination unit 58 With display control processing, judge that front sonar 91~94 can not detect other vehicles 101 of front or other barrier (nothings again Method detection zone) situation.

Be can not (step S12 in the case of detection zone：YES), into step S13.In step s 13, due to energy Enough make the outbound of this car 10, therefore, auxiliary continues the judgement that determination unit 58 terminate the meaning of outbound auxiliary control.That is, aid in Continue determination unit 58 and temporarily judge that (1 time judgement) is in " can outbound " state, in step S12, S13 in step S7, S9 It is determined 2 judgements of the situation of " can outbound ".As a result, the outbound auxiliary under " information that calls attention to exports determinating mode " The end of continuation judges that (2 judgements) is set up, and can be converted to " auxiliary terminates all announcement mode ".Accordingly, assist control 60 connects Continued the result of determination of determination unit 58 by auxiliary, terminate the outbound auxiliary control for this car 10.

On the other hand, in step S10, S12 be negative result of determination in the case of (step S10, S12：NO), enter Step S14.In step S14, auxiliary continues the judgement that determination unit 58 continue the meaning of outbound auxiliary control.As a result, End under " information that calls attention to export determinating mode " judges invalid, returns to " " fall back " mode" " (or " preceding progressive die Formula ").That is, assist control 60 receives the result of determination that auxiliary continues determination unit 58, continues the outbound auxiliary control to this car 10 System.

In addition, (step S11) after warning is shown temporarily is carried out, in the case of in step S12 being the result of determination for negating, When " " fall back " mode" " is returned in step S14, output control part 62 makes touch-screen display 40 not show the information that calls attention to, For example, Figure 10 picture is switched to show from Figure 11 display picture 120.That is, the above-mentioned information that calls attention to is only in preceding progress Touch-screen display 40 is shown in when sailing.

The embodiment ＞ of ＜ the 2nd

Reference picture 12 and Figure 13 illustrate to the 2nd embodiment.The situation of 2nd embodiment is：This car 10 is from file parking space 100 outbounds and when collaborating with track, make rear side side's image of outbound direction or direct of travel (figure at the right side rear of this car 10 Picture) it is shown in touch-screen display 40.

In Figure 12 step S15, operational part 52 (output control part 62) carries out following judgement：Shown as by touch-screen The warning output that device 40 is carried out, if rear side side's image, i.e. in outbound direction or direct of travel, right side side's camera should be shown The image (rear side side's image) at the right side rear of this car 10 taken by 83.In step S15, output control part 62 can root According to the determinating reference same with Fig. 9 step S10, determine whether show rear side side's image.

In step S15, (the step S15 in the case where being judged to needing to alert by output control part 62：YES), enter Step S16.In step s 16, output control part 62 makes as the outbound direction for the information that calls attention to or the rear side of direct of travel Square image is shown in touch-screen display 40.Figure 13 represents the display picture 130 1 of touch-screen display 40.In addition, and Fig. 9 Step S11 situation it is same, in step s 16, output control part 62 can also show the picture of touch-screen display 40 Such as switch to display picture 130 from Figure 10 display picture 120.

Eye view image 132, and the side on the right side of left field is shown are shown in the right side area of Figure 13 display picture 130 Rear side side's image 134 taken by camera 83.Also, the right side rear area in eye view image 132, it is overlapping to show Represent the mark 136 of the frame of rectangle.The mark 136 is shown in the shooting that rear side side's image 134 is shot with right side side's camera 83 Position corresponding to region (indication range).Figure 13 illustrates the image for shooting to obtain to the indication range by right side side's camera 83 The situation of the left field of display picture 130 is shown in as rear side side's image 134.

So, in the left field of display picture 130, rear side side's image is shown instead of forward image 124 (Figure 10) 134, make the display location of rear side side's image 134 as mark 136 is overlapping and be shown on eye view image 132, accordingly, this car 10 goes out During storehouse, driver can be aroused by display picture 130 and pay attention to needing the right side rear for confirming this car 10.In addition, mark 136 exists The right side rear of this car 10 is shown in eye view image 132, therefore, on eye view image 132, going out for this car 10 will not be hindered Storehouse direction or direct of travel.

After step S16 display processing, the judgement for the step S12 for continuing Fig. 9 that determination unit 58 is carried out by auxiliary is performed Reason.In addition, in step S15 for negative result of determination in the case of (step S15：NO), into Fig. 9 step S14.

The embodiment ＞ of ＜ the 3rd

Reference picture 14 and Figure 15, the 3rd embodiment is illustrated.3rd embodiment is following situation：Parked in this car 10 from file The outbound of space 100 and when collaborating with track, detect other vehicles travelled on track close to come when, make warning text display Warning tones are exported in touch-screen display 40, and from loudspeaker 42.

Same with Figure 12 step S15 in Figure 14 step S17, operational part 52 (output control part 62) judges conduct The warning output of touch-screen display 40, if should show that (right side side is taken the photograph for rear side side's image of outbound direction or direct of travel The image at the right side rear of this car 10 as taken by first 83).In this case, output control part 62 can also according to Fig. 9 The same determinating references of step S10, determine whether show rear side side's image.

In step S17 by output control part 62 be determined as needs alerted in the case of (step S17：YES), enter Step S18.In step S18, same with Figure 12 step S16, output control part 62 makes the outbound as the information that calls attention to Direction or the rear side side of direct of travel image are shown in touch-screen display 40.In addition, the situation phase with Figure 12 step S16 Together, in step S18, output control part 62 can also be shown the picture of touch-screen display 40 for example from Figure 10 display picture Face 120 switches to Figure 13 display picture 130.

In step S19, whether output control part 62 judges other vehicles from the track that the outbound of this car 10 is collaborated Rear is close.In step S19, in other vehicles from rear to this car 10 close in the case of (step S19：YES), enter Enter step S20.In step S20, output control part 62 makes call attention to letter of other vehicles close to the meaning of this car 10 Breath is shown in touch-screen display 40, and the information that calls attention to is exported as sound from loudspeaker 42, to driver Called attention to.In this case, output control part 62 can also show the picture of touch-screen display 40 for example from Figure 13 Display picture 130 switch to Figure 15 display picture 140.

Figure 15 represents the display picture 140 1 of the touch-screen display 40 in step S20.On the right side of display picture 140 Side region shows eye view image 142, and shows rear side side's figure taken by right side side's camera 83 in left field As 144.Also, the right side rear area of this car 10 on eye view image 142, the overlapping mark for showing the frame for representing rectangle 146.It is (aobvious that the mark 146 is shown in position corresponding with the shooting area of the shooting rear side side's image 144 of right side side's camera 83 Demonstration is enclosed).Figure 15 represents that the image of the indication range is shown in the left side of display picture 140 as rear side side's image 144 Region.

Also, the overlapping mark 148 for showing the frame for representing rectangle on rear side side's image 144.The mark 148 is to be write Enter rear side side's image 144, and leaned on for arousing other vehicles 150 that driver pays attention to just travelling on track from rear Near mark.Also, output control part 62 is defeated from loudspeaker 42 using the close situation of vehicle 150 as voice (sound) Go out.

So, display picture 140 left field instead of Figure 11 forward image 124 and show on rear side of square image 144, Make the display location of rear side side's image 144 as mark 146 is overlapping to be shown on eye view image 142, accordingly, the outbound of this car 10 When, driver can be aroused by display picture 140 and pay attention to needing to confirm the rear side side of this car 10.In this case, mark Note 146 is shown in the right back of this car 10 in eye view image 142, therefore, this car 10 will not be hindered on eye view image 142 Outbound direction or direct of travel.

Also, in rear side side's image 144, other vehicles 150 labeled 148 surround, and are driven therefore, it is possible to effectively alert The person's of sailing vehicle 150 is proximate to the vehicle of this car 10.Also, can be more effectively to driving by exporting sound from loudspeaker 42 The person of sailing is called attention to.

After step S20 display processing, or it is (step S19 in the case of the result of determination of negative in step S19： NO), the determination processing for the step S12 for continuing Fig. 9 that determination unit 58 is carried out by auxiliary is performed.In addition, it is negative in step S17 Result of determination in the case of (step S17：NO), into Fig. 9 step S14.

So, carry out calling attention to the output processing of information in " information that calls attention to export determinating mode ", when When the end that outbound auxiliary continues judges to set up, the neutralized control of rudder angle is carried out by assist control 60.In addition, " rudder angle is neutral Change control " refer to, change is set to target rudder angle θ tar rudder angle θ, and makes rudder angle control of the rudder angle close to neutral angle, θ o System.

＜ auxiliary terminates the action ＞ of all announcement mode

So, when the end judgement establishment continued due to outbound auxiliary, and the outbound carried out by assist control 60 aids in Control terminates, and at the end of the neutralized control also of rudder angle, auxiliary continue determination unit 58 can also use touch-screen display 40 and/ Or loudspeaker 42, to inform that the driver Ben Che 10 of this car 10 can be with outbound.Accordingly, driver just can in time hold driving master The conversion of body.

[effect of outbound servicing unit 12]

As described above, the outbound servicing unit 12 has：[1] front sonar 91~94, its at least detect from this car 10 to positioned at The front distance Df of other vehicles 101 of front in the front of this car 10；[2] assist control 60, it is according to front distance Df and this The current location Pc of car 10, at least aids in the advance of this car 10；[3] touch-screen display 40, it shows the outbound with this car 10 The relevant information that calls attention to；[4] output control part 62, it controls touch-screen display 40.Also, [5] at this car 10 In can outbound state, and outbound direction (right) or direct of travel feelings corresponding with the direction shown in the gear (D) of this car 10 Under condition, output control part 62 makes to call attention to presentation of information in touch-screen display 40, wherein, the outbound direction is this car 10 Want mobile direction relative to auxiliary starting position Ps, the direct of travel is the actually moveable direction of this car 10.

So, only this car 10 can outbound, and outbound direction or direct of travel situation corresponding with the direction shown in gear Under, the presentation of information that makes to call attention to is in touch-screen display 40.That is, only this car 10 is made to outbound direction or direct of travel outbound In the case of, the presentation of information that will call attention to is in touch-screen display 40, therefore, it is possible to improve the suitable of the presentation of information that calls attention to Shi Xing, and visual stimulus can be given to driver by the change of display content during outbound.It is hereby it is possible to effectively real Now more strongly arouse the picture that driver pays attention to show.As a result, driver can according to the shown information that calls attention to, one Side confirms the driving vehicle on other vehicles 101 of front, other vehicles 102 of rear and track of file parking space 100, on one side Make the outbound of this car 10 and collaborate with track.

In addition, output control part 62 can also make to be synthesized into the image taken by each camera 81~84 , the eye view image 114,122,132,142 of viewed from above car 10 is shown in touch-screen display 40, and makes to arouse note Presentation of information of anticipating is in side in eye view image 114,122,132,142, different from the outbound direction of this car 10 or direct of travel To.Accordingly, shown in eye view image 114,122,132,142 in the region in the direction different from outbound direction or direct of travel Call attention to information, therefore, it is possible to carry out the position of safety verification when not blocking 10 outbound of this car, and driver is entered Row effectively calls attention to.That is, when showing information in outbound direction or direct of travel, can be brought to driver forbid to The illusion of direction traveling, therefore, it is possible to occur such illusion.

In addition, touch-screen display 40 can show eye view image 132,142 and rear side side's image 134,144, output control Portion 62 processed is in this car 10 to make eye view image 132,142 and rear side side's image 134,144 in the lump in the case of outbound state It is shown in touch-screen display 40.The visual angle of rear side side's image 134,144 is different from eye view image 132,142, also, is to go out Driver wants the image after the necessary part amplification of confirmation during storehouse, therefore, it is possible to easily verify that the driving vehicle on track.

In addition, when making eye view image 132,142 and rear side side's image 134,144 is shown in touch-screen display 40, it is defeated Going out control unit 62 can also look down 136,146 overlapping be shown in of mark of the indication range of expression rear side side image 134,144 Correspondence position in image 132,142.Accordingly, driver can hold the indication range of rear side side's image 134,144 exactly.

In addition, output control part 62 can also make to call attention to when this car 10 advances and travelled, presentation of information is in touch screen display Show device 40, on the other hand, the information that calls attention to is not shown when this car 10 is retreated and travelled.Accordingly, advance traveling in outbound when The information that calls attention to is shown, is not shown when retreating traveling, therefore, it is possible to make the picture on the touch-screen display 40 when retrogressing travels Face is without dead angle.

[supplement]

In addition, the present invention is not limited to above-mentioned embodiment, certainly can be without departing from the spirit and scope of the invention Freely changed.

In the above description, illustrate (1) this car 10 be in can outbound state, (2) are if outbound direction or direct of travel It is corresponding with the direction shown in gear, then touch-screen display 40 is shown the situation for the information that calls attention to, but present embodiment institute The outbound servicing unit 12 being related to can also be formed as described below.

That is, outbound servicing unit 12 has:[1] front sonar 91~94, it is at least detected from this car 10 to positioned at this car The front distance Df of other vehicles 101 of front in 10 fronts；[2] assist control 60, it is according to front distance Df and Ben Che 10 Current location Pc, at least aid in the advance of this car 10；[3] touch-screen display 40, its display are relevant with the outbound of this car 10 The information that calls attention to；[4] output control part 62, it controls touch-screen display 40.Also, [5] output control part 62 exists In the case of following, the presentation of information that makes to call attention to is in touch-screen display 40：Reach when (a) aids in from beginning outbound and begin to pass through Stipulated time, (b) this car 10 occur predetermined angular relative to the auxiliary starting position Ps started when outbound aids in and changed, or (c) this car 10 moves at least one of predetermined distance state, and outbound direction (right) or row from auxiliary starting position Ps It is corresponding with the direction shown in the gear (D) of this car 10 to enter direction, wherein, the outbound direction refers to that this car 10 is relative to auxiliary Starting position Ps wants mobile direction, and the direct of travel refers to the actually moveable direction of this car 10.

So, only at least one state in above-mentioned (a)~(c) is reached, and outbound direction or direct of travel and gear In the case of corresponding to direction shown in position, the presentation of information that makes to call attention to is in touch-screen display 40.In this case, also only exist When making this car 10 to outbound direction or direct of travel outbound, therefore the presentation of information that will call attention to, is called out in touch-screen display 40 The timeliness for acting the display for paying attention to information improves, further, it is possible to be given by the change of display content during outbound to driver Give visual stimulus.Shown hereby it is possible to effectively realize and more strongly arouse the picture that driver pays attention to.As a result, driver's energy It is enough according to the shown information that calls attention to, on one side other vehicles 101 of front of confirmation file parking space 100, rear other Driving vehicle on vehicle 102 and track, while making the outbound of this car 10 and collaborating with track.

In the present embodiment, enumerate exemplified by manipulating automatically and be illustrated, but can also use and (not scheme accelerator pedal Show), being automatically brought into operation of brake pedal (not shown) and the gear level 32/manually operated various drive manners being combined.

In the present embodiment, manipulation angle (the steering angle of change steering wheel 70 are enumerated:Steering angle) situation Exemplified by be illustrated, but rudder angle θ can also be other physical quantitys or controlled quentity controlled variable relevant with the manipulation of this car 10.For example, rudder Angle θ can be the steering angle (turning angle) or toe-in angle (toe angle) or in EPS-ECU76 of wheel The rudder angle command value that inside defines.

In the present embodiment, using the automated structure of travel direction disk 70, but rudder angle θ mode is changed not It is defined in this.For example, it is also possible to the command signal based on steering-by-wire is exported by EPS-ECU76 longitudinal controllers side, to become More as wheel steering angle rudder angle θ.Or can also be by between the rotary speed of lubrication groove and the rotary speed of foreign steamer Speed difference is set, to change the rudder angle θ of the steering angle as wheel.

In the present embodiment, in the outbound auxiliary control carried out by assist control 60, can also automatically carry out Manipulation, gear change operation, the operation of brake pedal of steering wheel 70.In this case, after outbound auxiliary control terminates, can incite somebody to action All operationss are converted into the manually operated of driver, part operation can also be converted into the manually operated of driver.Separately Outside, for the operation automatically carried out in outbound auxiliary control, operation can also be transferred after outbound aids in control to terminate To driver, on the other hand, the operation of the driver is aided in.

In the present embodiment, the mechanism as detection front distance Df or rear distance Db, using sonar 91~98, but It is not limited to the structure.Front testing agency (or rear testing agency) can also be for example range radar, can also be Three-dimensional camera.

Claims (6)

1. A kind of 1. outbound servicing unit, it is characterised in that

   With front testing agency, auxiliary controls, indication mechanism and display control mechanism, wherein,

   The front testing agency is at least detected from this car to the front distance of the front obstacle positioned at this front side；

   The auxiliary controls are worked as according to the front distance detected by the front testing agency and described car Front position, at least aid in the advance of described car；

   The indication mechanism shows the call attention to information relevant with the outbound of described car；

   Indication mechanism described in the display control mechanism controls,

   Described car be in can outbound state and outbound direction or direct of travel with the gear of described car shown in direction pair Should in the case of, the display control mechanism make the indication mechanism show described in call attention to information, wherein：The outbound side Starting position is aided in the position of described car when referring to start relative to the auxiliary, described car wants mobile side To；The direct of travel refers to the actually moveable direction of described car.
2. 2. outbound servicing unit according to claim 1, it is characterised in that

   Also there are multiple photographic units on the periphery that can shoot described car,

   The display control mechanism makes the indication mechanism show eye view image, and the indication mechanism is aroused note by described Presentation of information of anticipating is in the directions different from the outbound direction or the direct of travel in the eye view image, wherein described bow Image of looking down from a height is the figure that described car obtaining, viewed from above is synthesized to the image taken by each photographic unit Picture.
3. 3. outbound servicing unit according to claim 2, it is characterised in that

   The indication mechanism can show the side image for the described car that the eye view image and the photographic unit photograph,

   Being in described car can be in the state of outbound, and the display control mechanism makes the indication mechanism show described bow in the lump Look down from a height image and the side image of the outbound direction or the direct of travel.
4. 4. outbound servicing unit according to claim 3, it is characterised in that

   When making the indication mechanism show the eye view image and the side image, the display control mechanism makes described aobvious Show that mechanism will represent the overlapping correspondence position being shown in the eye view image of mark of the indication range of the side image.
5. 5. according to outbound servicing unit according to any one of claims 1 to 4, it is characterised in that

   The display control mechanism make when described Chinese herbaceous peony is entered and travelled the indication mechanism show described in call attention to information, separately On the one hand, the indication mechanism is made not show the information that calls attention to when described car retreats traveling.
6. A kind of 6. outbound servicing unit, it is characterised in that

   With front testing agency, auxiliary controls, indication mechanism and display control mechanism, wherein,

   The front testing agency is at least detected from this car to the front distance of the front obstacle positioned at this front side；

   The auxiliary controls are worked as according to the front distance detected by the front testing agency and described car Front position, at least aid in the advance of described car；

   The indication mechanism shows the call attention to information relevant with the outbound of described car；

   Indication mechanism described in the display control mechanism controls,

   Institute when reaching when the auxiliary starts by the state of stipulated time, described car relative to described aid in State this car position aid in starting position changed predetermined angular state or described car from the auxiliary starting position Move the state of predetermined distance at least one of state, and the gear of outbound direction or direct of travel and described car In the case of corresponding to shown direction, the display control mechanism make the indication mechanism show described in call attention to information, its In, the outbound direction refers to that described car wants mobile direction, the direct of travel relative to the auxiliary starting position Refer to the actually moveable direction of described car.